Hybrid Control and Motion Planning of Dynamical Legged Locomotion

William A Gruver author Nasser Sadati author Guy A Dumont author Kaveh Akabri Hamed author

Format:Hardback

Publisher:John Wiley & Sons Inc

Published:26th Oct '12

Currently unavailable, and unfortunately no date known when it will be back

Hybrid Control and Motion Planning of Dynamical Legged Locomotion cover

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.

ISBN: 9781118317075

Dimensions: 241mm x 163mm x 22mm

Weight: 617g

272 pages